DK2512755T3

DK2512755T3 - Method and apparatus for controlling a manipulator

Info

Publication number: DK2512755T3
Application number: DK10790736.2T
Authority: DK
Inventors: Simon Klumpp; Günter Schreiber
Original assignee: Kuka Lab Gmbh
Priority date: 2009-12-17
Filing date: 2010-12-08
Publication date: 2015-11-16
Also published as: WO2011082755A1; CN102741022B; EP2512755B1; US20160107315A1; EP2883665B1; KR20120105531A; EP2883665A3; US10076841B2; CN102741022A; CN105291102A; KR101798673B1; DE102009058607A1; EP2883665A2; US20120283875A1; CN105291102B; ES2552094T3; EP2512755A1; US9227321B2

Description

Method and Device for Controlling a Manipulator Description [0001] The present invention concerns a method and a device for controlling a manipulator, in particular a robot, as well as a holding tool for a manipulator, used according to the invention.

[0002] Industrial robots are supposed to be used for joining of structural parts, among other things. Position tolerances of delivered workpieces which need to be joined to workpieces being held by the robot make automation especially difficult.

[0003] Besides structural compliances, such as a flexible robot or a flexible end effector linkage, for example by a so-called Remote Center of Compliance ("RCC"), various theoretical solution approaches of such so-called bolt and hole problems have been proposed in research, such as the detecting of contact forces by additional force sensors and the determination of the correct joining trajectory on the basis of these contact forces. However, thus far these approaches have hardly been implemented in practice, due to various problems.

[0004] EP 0 901 054 A1 discloses a method for control of a robot which is adapted to moving a workpiece on a path and changing a respective controller gain of a position and a speed control circuit upon contact with the surroundings so that the workpiece carried by the robot can be clamped.

[0005] EP 2 045 049 A2 discloses a device and a method for control of a manipulator such that it finds a position and upon contact with a surroundings it can apply a force. Once the end effector of the manipulator is in proximity to a predetermined position, the control gain of the motion control circuit can be reduced.

[0006] EP 1 950 010 A2 discloses a method for programming a robot. At first the robot under manual steering approaches a point in space, after which forces and torques which the robot generates in the approached point in space are detected and memorized. From this information, a motion trajectory is planned afterwards. Upon contact with surroundings, it is possible to switch to a different control method, such as a force regulation.

[0007] The problem to be solved by the present invention is to improve the control of a manipulator.

[0008] This problem is solved by a method with the features of claim 1. Claim 8 proposes a device and claim 9 a computer program product, especially a storage medium or a data medium to carry out a method according to the invention. The subclaims concern advantageous modifications.

[0009] A method and a device according to the present invention are intended in particular for a uniaxial or a multiaxial robot, such as a six-axis or redundant robot, for example an industrial robot or a lightweight robot, such as the applicant’s lightweight robot "LBR". By control a regulation is also meant, i.e., the setting of control variables on the basis of predetermined guidance variables and detected actual variables.

[0010] According to the invention, a contact force is detected on the basis of real driving forces and driving forces of a dynamic model of the manipulator.

[0011] For a more compact explanation, in the present discussion a torque, that is, an antiparallel force couple, will also be generalized as a force, so that for example the detecting of a contact force means the detecting of force and/or torque components in one or more directions, especially Cartesian spatial coordinates or articulation axes, and a driving torque of an electric motor, for example, is also termed a driving force.

[0012] Real driving forces can for example be detected directly, such as by means of force sensors on an axis or a drive unit of the manipulator, and/or indirectly, for example on the basis of a power uptake or output of a drive unit.

[0013] A dynamic model generally describes the relationship between kinematic variables, especially articulation coordinates q, velocities dq/dt and accelerations d2q/dt2, and forces, especially driving, gravity, and friction forces, for example in the form

with the mass matrix M and the generalized forces h. If the kinematic variables and the gravity and friction forces are known, differences result between the driving forces iModeii of the model and the real driving forces τ as well as model and measurement errors, especially from contact forces not provided in the model, which can thus be detected on the basis of the difference between actually measured and model driving forces:

[0014] This detecting of contact forces between the manipulator and a workpiece on the basis of real driving forces and driving forces of a dynamic model spares the need for additional force sensors and advantageously allows a surveying, monitoring of the joining process, and/or switching to a compliant control, as explained below.

[0015] According to one embodiment of the present invention, one or more postures are driven to with the rigidly controlled manipulator, especially for surveying or joining of workpieces. By a rigid control in particular a position control is meant, such as a proportional, differential and/or integral control, such as a Cartesian position of a reference point, such as the TCP, or in articulation coordinates of the manipulator.

[0016] One or more contact forces are detected in this process, continuously or at discrete moments of time, which are acting on the manipulator upon making contact with a workpiece being headed for.

[0017] If a detected contact force exceeds a predetermined value, which can also be zero, in particular, and optionally taking into account tolerances, the invention switches to a compliant control. Preferably, such a switching occurs within at most 3 milliseconds of making contact, preferably within at most 1.5 milliseconds.

[0018] A compliant control or a switching to such a control can be realized, for example, in that control coefficients of a P or PD control system are reduced and/or an integral component of a PID control system is eliminated, so that even with large control deviations or position errors between nominal and actual posture the manipulator does not apply any large driving forces. In addition or alternatively, a driving force can also be limited to a preferably low maximum value, so that once again even with large position errors no large driving forces are generated. In a preferred embodiment, a compliant control is designed as a so-called impedance control, especially a force-based impedance control. In general, a compliant control as opposed to a rigid control shall be in particular any control in which driving forces of the manipulator are generated such that, upon making contact with a workpiece, neither the workpiece nor the manipulator becomes damaged, even if a commanded nominal posture requires further penetration of the manipulator into the workpiece.

[0019] In a preferred embodiment, a workpiece is then joined under the compliant control and/or its position is surveyed on the basis of detected contact forces in a multistaged process. In this way, for example in connection with a lightweight robot with its lower inertial forces, cycle times can be reduced advantageously, since now a surveying or joining posture can be approached quickly and precisely under the rigid control, without the risk of damaging the workpiece of the manipulator during the surveying or the joining, since upon making contact there is an immediate switching to the compliant control.

[0020] According to the invention, a workpiece is joined under compliant control and a joining state of the workpiece is monitored on the basis of a detected contact force. By monitoring of a contact force, thanks to a significant drop in the force it is possible to recognize a snapping in of a workpiece being joined under elastic or plastic deformation and thus a correct joining process. Thus, for example, in a joining under elastic deformation, at first a contact force increases, especially one opposite the joining direction. If the workpiece is relaxed, for example after overcoming a bulge, this force drops significantly. Likewise, one can check for example from the torque which a joined screw exerts on the manipulator the state of tension of the screw and determine whether a screw head has been broken off.

[0021] In addition, a joining state of the workpiece can be monitored on the basis of an end posture of the manipulator reached under the compliant control. With a compliant control, it is possible that the manipulator moves no further in the joining direction regardless of the workpiece reaching a nominal joining end posture. If the end posture reached under the compliant control is compared to the nominal joining end posture, which can be determined for example by teaching a robot, it is possible to determine if the joining process was performed correctly.

[0022] In addition, a joining state of the workpiece can also be monitored on the basis of a time change in the posture of the manipulator occurring under the compliant control, especially on the basis of a velocity. For example, if a velocity of the TCP or the manipulator-guided workpiece drops below a limit value in the joining direction, it can be detected that the workpiece has been correctly joined.

[0023] If this is not the case, since for example the workpiece being joined is hindered by an interfering contour, a joining strategy or especially a joining position can be changed, for example by trying to join a bolt in a new starting position offset from the original joining base position.

[0024] According to one preferred embodiment, when joining a workpiece under a compliant control both one or more nominal forces and also one or more nominal motions are specified. For example, if the compliant control is realized by a force-based impedance control, by determining driving forces τ according to

by a spring force of a virtual spring with spring constant c, projected by means of the transposed Jacobian matrix J into the space of the articulation coordinates, such as the angle of rotation of a bent-arm robot, between a nominal and actual Cartesian position jcroii and x of the TCP, a force defined in the Cartesian space can be added to the nominal movement according to

This can preferably be done in dependence on the already accomplished joining process or the joining strategy for the particular workpiece, as one chooses. The specified nominal force for example can be constant, ramp-like, alternating or swelling, especially sinusoidal, in order to overcome stick-slip effects, machining burr, or minor elastic tolerances during the joining process.

[0025] Especially in order to join workpieces together it is required to recognize a position, i.e., a location and/or orientation of a workpiece, such as a base body, relative to the manipulator, which is holding a workpiece being joined to it, such as a bolt, a clamp, or the like. Therefore, according to a modification of the present invention, a position of a workpiece is surveyed by means of the manipulator in a multistaged process.

[0026] According to this modification, positions of preferably at least two contours not aligned with each other, especially edges of the workpiece, are determined by detecting postures of the manipulator and the contact forces acting on it in this event. If a contact force increases significantly upon assuming a posture, since a calliper of the manipulator makes contact with a contour of the workpiece, the contact position can be determined from the corresponding posture of the manipulator.

[0027] If the position of the workpiece relative to the manipulator is roughly known in this way, reference points of the workpiece which can be defined for example by recesses, especially boreholes, can now be approached in a secure manner. Upon contact between a calliper and a reference point, for example the sliding of a calliper into a recess, the position of this reference point can be determined on the basis of a rise in a corresponding contact force which opposes the further movement of the calliper. On the basis of these reference points it is possible to determine a workpiece coordinate system, which enables a precise determination of joining positions or the like, unlike the contours which are approached for the rough orientation.

[0028] Preferably a reference point is approached in a perturbing manner with a calliper, i.e., the manipulator moves the calliper into the immediate vicinity of the previously estimated position of the reference point along a predetermined exploratory trajectory, preferably in a plane which is essentially oriented tangentially to the workpiece contour at the reference point, and thus more or less sweeps the area for the previously estimated position of the reference point until its further movement is prevented on account of the contact force, for example by the sliding of the calliper into a borehole. This demonstrates the advantage, according to one embodiment, of driving up to the previously estimated position of the reference point under a compliant control.

[0029] In particular, in order to make sure of a sliding in of a calliper into a recess defining a reference point, the manipulator in its approaching movement can exert a normal force on the workpiece perpendicular to the above-discussed plane, which is oriented essentially tangentially to the workpiece contour at the reference point. In a preferred embodiment of the present invention, a calliper and a recess are configured for the defining of a reference point so that the calliper upon sliding into the recess centres itself. For example, the calliper can have a conical tip and the recess a circular periphery.

[0030] The probing of contours to determine the rough position of the workpiece in order to securely approach reference points, and this approaching of the reference points, can occur one after the other so that at first all predetermined contours are probed before then driving to the reference points whose approximate position is thus known. Likewise, this can also be done alternately, in that at first contours are probed, preferably in the vicinity of reference points, and then reference points whose approximate position is known relative to these contours, before once again probing other contours in order to determine the approximate position of further reference points and then probing these in a secure manner.

[0031] According to one embodiment, a manipulator holds a workpiece to be joined at first in at least two, preferably non-collinear force contacts, oriented essentially perpendicular to each other, when placing it in a joining base position. By force contact, a contact between workpiece and manipulator, especially a holding tool, is meant in which the manipulator exerts a holding force on the workpiece, the direction of the respective holding force serving as an orientation.

[0032] For example, a first force contact can be realized in force-fitting manner by an electromagnet, which attracts the workpiece when actuated. A second force contact can be realized in form-fitting manner, for example, by a shoulder against which the workpiece thrusts.

[0033] After being placed in a joining base position, the manipulator moves the workpiece in the joining direction into an end joining position. According to the invention, one of the force contacts, such as the first force contact realized by an electromagnet, is opened as soon as its supporting or holding function is taken over by a workpiece with which the workpiece being held by the manipulator is joined.

[0034] This enables a reorientation of the manipulator workpiece, holding the workpiece, so that a conflict with contours of a workpiece with which the workpiece being held by the manipulator is joined can be avoided.

[0035] In particular, to enable shorter cycle times for a surveying and a subsequent joining according to the invention of workpieces, in one modification a holding tool for the manipulator has a holding region for the holding of a workpiece, especially a force-fitting and/or form-fitting holding, and in addition a calliper for probing a workpiece. The holding region can present the first and second force contacts explained above for example by one or more electromagnets and/or shoulders, and the calliper can have preferably a conical end for self centring in a recess under a compliant control. Preferably, the calliper extends essentially perpendicular or opposite to the bearing or holding region of the holding tool, in order to avoid conflicts between a workpiece and the holding region when surveying or the calliper when joining. A calliper in the sense of the present invention can thus be a bolt, pin or the like, firmly connected to a holding tool of the manipulator or integrated with it, being preferably rotationally symmetrical, and/or having a tip.

[0036] Further benefits and features will emerge from the subclaims and the sample embodiments. These show, partly schematically:

Fig. 1: a top view of a workpiece during a surveying;

Fig. 2: a section along line II-II in Fig. 1;

Fig. 3A: a side view from the top left in Fig. 1 when joining a workpiece according to a method according to one embodiment of the present invention;

Fig. 3B: a section along line IIIB-IIIB in Fig. 1, 3A with workpiece placed in the joining base position;

Fig. 3C: a view per Fig. 3B with workpiece in end joining position;

Fig. 4A - 4D: a side view when joining another workpiece according to a method according to one embodiment of the present invention;

Fig. 5: the sequence of the surveying shown in Fig. 1, 2;

Fig. 6: the sequence of the change in a joining position shown in Fig. 3A; and Fig. 7: the sequence of a joining as shown in Fig. 4A - 4D.

[0037] With the help of Fig. 1, 2 and 5 a multistaged surveying of a position of a workpiece 2 on the basis of detected contact forces according to a method which is not the subject matter of claim 1 is explained, this being an example to facilitate the understanding of the invention.

[0038] The workpiece 2, for example a dashboard, after being delivered is at first positioned however desired within certain tolerances in the work zone of a lightweight robot, of which only a portion of the holding tool 1 is shown in the figures, in Fig. 1, 2 only a cylindrical calliper 1A with conical tip (see Fig. 3A), disposed perpendicular to a holding region 1.1, 1.2, which shall be explained hereafter with reference to Fig. 3, 4. In the work zone, a basis coordinate system B of the robot is defined, whose x and y axes are indicated in Fig. 1. Thanks to the use of a holding tool 1 according to the invention with a holding region 1.1, 1.2 (see Fig. 3B) and a calliper 1A (see Fig. 3A), which shall be explained below, it is possible to avoid a tool change between surveying and joining and thus reduce the cycle time.

[0039] In a first step of a multistage surveying process, the robot moves its calliper 1A rigidly under PID control in the x and y direction of the coordinate system B until it contacts successively the edges 2.1, 2.2 of the workpiece 2 at the places indicated in Fig. 1 (see Fig. 5, step S10). A control device (not shown) compares the driving torques τ measured on the robot with theoretical driving torques TModeii, which were theoretically required to generate the detected movement according to a dynamic contact-free model (Fig. 1: "S20"). If the difference between these driving torques, especially in terms of magnitude, is greater than a predetermined limit value TKontakt, this indicates that the calliper 1A has contacted an edge 2.1 or 2.2 of the workpiece 2. Thereupon, the system switches without delay within 1 millisecond to a compliant force-based impedance control (Fig. 1: "S30"), in which the calliper 1A is “pulled” with a virtual spring in the direction of its nominal position jcsoii· [0040] By probing the two edges 2.1, 2.2 not aligned with each other, the position of the workpiece 2 can already be roughly determined in the coordinate system B of the robot (Fig. 1: "S40"). The switching to the compliant control makes sure that the robot can at first rigidly approach the contours quickly, without damaging the workpiece or robot upon contact.

[0041] In a second stage, three non-collinear reference boreholes 3.1 - 3.3 in the workpiece 2 are approached with the calliper. For this, the robot moves the calliper 1A into positions 3.1geSchatzt to 3.3geSchatzt (Fig. 1: "S50"), which are estimated on the basis of the position of the workpiece 2 known roughly from the first stage, the calliper 1A being moved about the estimated positions in perturbed, for example meandering, or in parallel trajectories (see Fig. 2). In this process, the calliper tip is pressed with a normal force perpendicular to the surface plane of the workpiece against it, while the robot is compliantly controlled especially in this plane (left to right in Fig. 2).

[0042] Once the calliper 1A gets from a position lying next to a reference borehole, indicated by dotted line in Fig. 2 and designated as 1A", into the reference point position defined by the reference borehole 3, it slides into it under the imposed normal force and centres itself thanks to its conical tip and the compliant control in this borehole in the surface plane, as shown by solid line in Fig. 2.

[0043] A further movement of the calliper 1A by the compliantly controlled robot, which tries to continue travelling the exploratory trajectory, is now counteracted by a significantly larger contact force on the calliper 1A sitting in the borehole 3.2, which is detected in a step S60 (Fig. 5). In this way, the positions of the reference boreholes 3.1 - 3.3 can be determined quickly, precisely, and in gentle and secure fashion. Then, from these, the position of a coordinate system W fixed to the workpiece can be determined relative to the robot’s coordinate system B.

[0044] Now a clamp 4, for example (see Fig. 3), is joined to a left upper edge of the workpiece 2 in Fig. 1, during which the multistaged surveying with switching to a compliant control can also be omitted. This joining process will be explained with the aid of Fig. 3,6.

[0045] In Fig. 3A the dotted line shows a first joining base position, in which the robot at first places the clamp 4 and tries to push it in the joining direction onto the workpiece 2 (index ' in Fig. 3A; step SI 10 in Fig. 6). However, the clamp 4 collides with a flange 2.3 of the workpiece 2 (also see Fig. 1). As described above, there is a switching to a compliant control upon making contact (Fig. 6: "S120", "S130"), in which a nominal movement xsoii is superimposed with a predetermined nominal force F, especially a constant force Fxy in the joining direction and a force Fz with sinusoidal variation perpendicular to the joining direction and plane, in order to facilitate a pushing against the edge.

[0046] But thanks to the compliant control, there is no damage to workpiece or robot, despite the collision with the flange 2.3. Instead, as soon as the tool 1 of the robot with the clamp 4 held in it no longer moves on account of the resistance, the end posture of the robot thus reached (shown by dotted line in Fig. 3A) is compared with a taught end position for a correctly pushed-on clamp 4 (Fig. 6: S140). In the present case, the control device recognizes that the clamp 4 was not correctly pushed on, due to the significant difference. Therefore, the joining position is changed (Fig. 6: S150), in that the robot again places the clamp 4 on the workpiece 2 with a sideways offset, as indicated by the solid line in Fig. 3A - 3C. This process is repeated until the robot can join the clamp 4 free of collision or until a given number of failed attempts is reached.

[0047] A successful joining process shall be explained with the aid of Fig. 3B, 3C. The robot places the workpiece, possibly after the failed attempts described above with regard to Fig. 3A, in a joining base position and pushes it slightly against the workpiece 2 (Fig. 3B). In this process, it holds the clamp 4 on the one hand in a first force contact in the vertical direction by means of an actuated electromagnet 1.2, and at the same time supports it in a second force contact against a second contact force in the horizontal direction, acting against the pushing, with form-fitting in a shoulder 1.1 of the workpiece 1.

[0048] In order to avoid a collision of the workpiece 1 with the flange 2.3 of the workpiece 2 during the further joining, the control device releases the first force contact during the pushing, in that the electromagnet 1.2 is no longer energized, which enables a reorientation of the workpiece 1 (Fig. 3C) relative to the partially pushed-on clamp 4. In this way, the robot can push the clamp 4 entirely onto the workpiece 2 with the workpiece holder 1.1.

[0049] The joining of another component, namely an elastic plug 40, in a borehole 20 shall be explained with the aid of Fig. 4, 7. One notices that the robot at first moves the plug 40 in the vertical direction toward the borehole 20 (step S210 in Fig. 7). If a contact force detected by means of a difference between measured and model driving torques is greater than a given limit value, the control device detects the contact with the workpiece (Fig. 7: "S220") and switches to a compliant control (Fig. 7: "S230"). Under this control, the plug is further introduced and the contact force is detected via the joining progress z.

[0050] One notices in the sequence Fig. 4B —► Fig. 4C that the plug 40 is elastically deformed. As soon as its lower flange has passed entirely through the borehole 20 and it has elastically recoiled to its initial position, the contact force acting against the joining is reduced.

[0051] This force decrease is detected by the control device in a step S240 and on this basis it can also be verified under compliant control whether the plug 40 was properly inserted into the borehole 20. In addition, here as well the end posture achieved with the robot at standstill can be compared with a previously taught posture in order to verify that the plug 40 was entirely inserted into the borehole 20.

[0052] In addition, a velocity criterion can be used here. This is especially advisable when the end position is not known exactly in the joining direction, for example, if the position of the workpiece 20 varies, without it being surveyed each time prior to the joining. For example, if the velocity of the TCP or the workpiece 40 decreases for a predetermined period of time below a predetermined limit value, the control device can detect that the plug 40 cannot be further pushed into the borehole. Then the end posture thus reached is detected and compared against a memorized posture upon contact of the workpieces 20, 40, which can be detected via the detected force increase, for example. If the difference between the two postures lies in a predetermined tolerance range, the joining process is detected as being successful.

[0053] In one embodiment, not shown, the lightweight robot inserts a screw into a thread by assigning a nominal torque and/or a nominal advancement. Also here a contact force is detected, such as a torque in the screwing direction, and the joining state is monitored on the basis of this contact force. If the robot has reached the end joining posture taught to it, and the torque present is too large, the screw has been tightened too much. On the other hand, if the torque is too low, the screw has not been tightened enough, for example because a nut has got stuck or a screw head has been twisted off.

[0054] In addition or alternatively the screw in place after being tightened with a defined torque can be turned further by a defined torque, for example by 90°. After this turn, the detected torque must lie in a predetermined range for a correctly tightened screw.

List of reference symbols [0055] 1; 10 Holding tool 1A Calliper 1.1 Shoulder (holding region, form-fitting force contact) 1.2 Electromagnet (holding region, force-fitting force contact) 2 Workpiece 2.1.2.2 Edge (contour) 2.3,2.4 Flange 3.1 - 3.3 Borehole (reference point) 4 Clamp 20 Workpiece 40 Plug

Claims

A method of controlling a manipulator, especially a robot, comprising the step of: - recording a contact force between the manipulator and a workpiece (2; 20) based on actual driving forces (r) and driving forces (rModeii) of a dynamic model (Md2q / dt2 + h (q, dq / dt) = rModeii) for the manipulator, which describes the relationship between kinematic magnitudes and driving forces, characterized by the step: - assembly of a workpiece (4; 40) under controlled control (S130; S230), wherein an overall state of the workpiece assembled during elastic or plastic deformation is monitored on the basis of a recorded decrease in contact force.

Method according to claim 1, characterized by the step of: - rigidly controlled approach to a position (S10; S110; S210); as well as switching to docile control based on a registered contact force (S30; S130; S230).

Method according to claim 2, characterized in that switching to flexible control (S30; S130; S230) is performed within a maximum of 3 milliseconds after the occurrence of a contact (S20; S120; S220).

Method according to any one of the preceding claims, characterized in that, at least optionally, at least one desired force as well as at least one desired movement (SI30; S230) is predetermined in the sensitive control for assembly of the workpiece.

Method according to any one of the preceding claims, characterized in that, based on the registered contact force, an assembly strategy, in particular an assembly ground position, an end position of the manipulator obtained during the sensitive control and / or a speed or a higher time derivation is changed. the manipulator (S150; Figs. 3A -► Fig. 3B).

A method of controlling a manipulator according to any one of the preceding claims, comprising the steps of: - holding the workpiece with the manipulator in at least two force contacts (1.1, 1.2), - placing the workpiece in an assembly ground position (Fig. 3A), - moving the workpiece to a assembly end position (Fig. 3B) by loosening at least one power switch (1.2).

Method according to claim 6, characterized in that a power contact (1.2) released by a movement of the workpiece to the assembly end position is force-closing, and / or that a power contact (1.1) is maintained during a movement of the workpiece to the assembly-end position.

Control device for a manipulator, in particular a robot, characterized in that it is adapted to perform a method according to one of the preceding claims.

A computer program product having a program code stored on a machine-readable carrier and comprising a computer program which performs a method according to one of claims 1 to 7 when it is executed in a control device according to claim 8.